| 齐朝晖,王坤.约束多体系统独立广义坐标的数值选取[J].计算力学学报,2000,17(4):394~397 |
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| 约束多体系统独立广义坐标的数值选取 |
| Numerical selection of generalize coordinates for constrained multibody systems |
| 修订日期：1999-06-30 |
| DOI：10.7511/jslx20004073 |
| 中文关键词: 多体系统 广义坐标 微分代数混合方程 完整约束 |
| 英文关键词:multibody systems,generalize coordinates,DAEs |
| 基金项目: |
| 齐朝晖 王坤 |
| 大连理工大学工程力学系!辽宁大连116023 |
| 摘要点击次数: 1547 |
| 全文下载次数: 8 |
| 中文摘要: |
| 多体系统的完整约束定义了一个嵌入到欧氏空间的微分流型，多体系统独立的广义坐标选取问题等价于该流型的坐标选取问题。据此，本文提出了一种新的独立广义坐标数值选取理论，可将多体系统的微分-代数混合型运动方程转化为较易求解的纯微分方程，并且不以求解非线性方程组作为必须的手段。 |
| 英文摘要: |
| The more efficient way to decrease violation of constraint in constrained multibody systems is to use generalize coordinate partition technique. When using such methods, a set of nonlinear algebraic equations must be solved by a numerical iteration process, which usually cost much CPU time and may be difficult to obtain a convergent numerical result due to inadequate initial value. We present a new method of generalize coordinate partition in which no numerical iteration process is necessary. The main idea of the method is to construct a curve line on the constraint manifold. The curve line connect two points, one is the point whose coordinate are all known, another one is the point only independent coordinate of which is known. Then the dependent coordinate can be obtained by integrate along the curve line. The applications of the method in modeling constrained multibody system is also presented in this paper. |
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